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update

change_pipette_api
zhaohe 1 year ago
parent
e4a80570d1
commit
82572030cd
2 changed files with 57 additions and 44 deletions
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  1. 45
      api/apibasic/reg_index.cpp
  2. 56
      api/apibasic/reg_index.hpp

45
api/apibasic/reg_index.cpp
View File

@ -84,30 +84,37 @@ static reginfo_t table[] = {
REG_ITERM(kreg_laster_scaner_scan_gain_adjust_suggestion),
REG_ITERM(kreg_laster_scaner_adc_result_overflow),
REG_ITERM(kreg_laster_scaner_laster_intensity),
REG_ITERM(kreg_xyrobot_default_velocity),
REG_ITERM(kreg_xyrobot_default_acc),
REG_ITERM(kreg_xyrobot_default_dec),
REG_ITERM(kreg_xyrobot_default_break_dec),
REG_ITERM(kreg_xyrobot_run_to_zero_speed),
REG_ITERM(kreg_xyrobot_run_to_zero_dec),
REG_ITERM(kreg_xyrobot_look_zero_edge_speed),
REG_ITERM(kreg_xyrobot_look_zero_edge_dec),
REG_ITERM(kreg_xyrobot_io_state),
REG_ITERM(kreg_xyrobot_robot_type),
REG_ITERM(kreg_xyrobot_one_circle_pulse),
REG_ITERM(kreg_xyrobot_one_circle_pulse_denominator),
REG_ITERM(kreg_xyrobot_ihold),
REG_ITERM(kreg_xyrobot_irun),
REG_ITERM(kreg_xyrobot_iholddelay),
REG_ITERM(kreg_xyrobot_robot_type),
REG_ITERM(kreg_xyrobot_x_shift),
REG_ITERM(kreg_xyrobot_y_shift),
REG_ITERM(kreg_xyrobot_iglobalscaler),
REG_ITERM(kreg_xyrobot_vstart),
REG_ITERM(kreg_xyrobot_a1),
REG_ITERM(kreg_xyrobot_amax),
REG_ITERM(kreg_xyrobot_v1),
REG_ITERM(kreg_xyrobot_dmax),
REG_ITERM(kreg_xyrobot_d1),
REG_ITERM(kreg_xyrobot_vstop),
REG_ITERM(kreg_xyrobot_tzerowait),
REG_ITERM(kreg_xyrobot_enc_resolution),
REG_ITERM(kreg_xyrobot_enable_enc),
REG_ITERM(kreg_xyrobot_x_shaft),
REG_ITERM(kreg_xyrobot_y_shaft),
REG_ITERM(kreg_xyrobot_x_one_circle_pulse),
REG_ITERM(kreg_xyrobot_y_one_circle_pulse),
REG_ITERM(kreg_xyrobot_run_to_zero_max_x_d),
REG_ITERM(kreg_xyrobot_run_to_zero_max_y_d),
REG_ITERM(kreg_xyrobot_look_zero_edge_max_x_d),
REG_ITERM(kreg_xyrobot_look_zero_edge_max_y_d),
REG_ITERM(kreg_xyrobot_io_state0),
REG_ITERM(kreg_xyrobot_io_state1),
REG_ITERM(kreg_xyrobot_min_x),
REG_ITERM(kreg_xyrobot_min_y),
REG_ITERM(kreg_xyrobot_max_x),
REG_ITERM(kreg_xyrobot_max_y),
REG_ITERM(kreg_xyrobot_run_to_zero_speed),
REG_ITERM(kreg_xyrobot_look_zero_edge_speed),
REG_ITERM(kreg_xyrobot_shift_x),
REG_ITERM(kreg_xyrobot_shift_y),
REG_ITERM(kreg_xyrobot_default_velocity),
REG_ITERM(kreg_step_motor_pos),
REG_ITERM(kreg_step_motor_dpos),
REG_ITERM(kreg_step_motor_enc_val),

56
api/apibasic/reg_index.hpp
View File

@ -109,31 +109,37 @@ typedef enum {
* XYROBOT *
***********************************************************************************************************************/
kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0),
kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1),
kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2),
kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3),
kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4),
kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5),
kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6),
kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7),
kreg_xyrobot_ihold = REG_INDEX(100, 0, 8),
kreg_xyrobot_irun = REG_INDEX(100, 0, 9),
kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10),
kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy
kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移
kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移
kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转
kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转
kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数
kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数
kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离
kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离
kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离
kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离
kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态
kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态
kreg_xyrobot_io_state = REG_INDEX(99, 0, 0), // IO状态
kreg_xyrobot_robot_type = REG_INDEX(99, 50, 0), // 机器人类型 0:hbot 1:corexy
kreg_xyrobot_one_circle_pulse = REG_INDEX(99, 50, 1),
kreg_xyrobot_one_circle_pulse_denominator = REG_INDEX(99, 50, 2),
kreg_xyrobot_ihold = REG_INDEX(99, 50, 4),
kreg_xyrobot_irun = REG_INDEX(99, 50, 5),
kreg_xyrobot_iholddelay = REG_INDEX(99, 50, 6),
kreg_xyrobot_iglobalscaler = REG_INDEX(99, 50, 7),
kreg_xyrobot_vstart = REG_INDEX(99, 50, 8),
kreg_xyrobot_a1 = REG_INDEX(99, 50, 9),
kreg_xyrobot_amax = REG_INDEX(99, 50, 10),
kreg_xyrobot_v1 = REG_INDEX(99, 50, 11),
kreg_xyrobot_dmax = REG_INDEX(99, 50, 12),
kreg_xyrobot_d1 = REG_INDEX(99, 50, 13),
kreg_xyrobot_vstop = REG_INDEX(99, 50, 14),
kreg_xyrobot_tzerowait = REG_INDEX(99, 50, 15),
kreg_xyrobot_enc_resolution = REG_INDEX(99, 50, 16),
kreg_xyrobot_enable_enc = REG_INDEX(99, 50, 17),
kreg_xyrobot_x_shaft = REG_INDEX(99, 50, 18), // x轴是否反转
kreg_xyrobot_y_shaft = REG_INDEX(99, 50, 19), // y轴是否反转
kreg_xyrobot_min_x = REG_INDEX(99, 50, 22),
kreg_xyrobot_min_y = REG_INDEX(99, 50, 23),
kreg_xyrobot_max_x = REG_INDEX(99, 50, 24),
kreg_xyrobot_max_y = REG_INDEX(99, 50, 25),
kreg_xyrobot_run_to_zero_speed = REG_INDEX(99, 50, 26),
kreg_xyrobot_look_zero_edge_speed = REG_INDEX(99, 50, 27),
kreg_xyrobot_shift_x = REG_INDEX(99, 50, 28),
kreg_xyrobot_shift_y = REG_INDEX(99, 50, 29),
kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0),
/***********************************************************************************************************************
* step_motor *

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